Updates for v4.0

src/lib/rt/src/os_linux/pbus.h

@@ -34,6 +34,7 @@
 #define PB_IOCTL_WRITE_FIRST_SLAVE      _IO(PB_IOCTL_MAGIC, 13)
 #define PB_IOCTL_READVERSION            _IO(PB_IOCTL_MAGIC, 14)
 #define PB_IOCTL_READSERIAL             _IO(PB_IOCTL_MAGIC, 15)
+#define PB_IOCTL_SET_STALLTIME          _IO(PB_IOCTL_MAGIC, 16)
 
 #define ERROR_DESCR_LENGTH            32 
 

src/lib/rt/src/os_linux/rt_io_m_pb_ai.c

@@ -186,7 +186,7 @@ static pwr_tStatus IoCardInit (
     return 1;
   }
 
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE) {
 
     for (i=0; i<IO_MAXCHAN; i++) {
       local->scancount[i] = 0;
@@ -201,7 +201,7 @@ static pwr_tStatus IoCardInit (
   else
     errh_Info( "Error initializing Pb module Ai %s", cp->Name );
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -234,7 +234,7 @@ static pwr_tStatus IoCardRead (
   op = (pwr_sClass_Pb_Ai *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
   
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
     
     for (i=0; i<cp->ChanListSize; i++) {
 
@@ -267,6 +267,25 @@ static pwr_tStatus IoCardRead (
 	        break;
             }
           }
+          else if (op->BytesPerChannel == 3) {
+	    udata32 = 0;
+	    memcpy(&udata32, local->input_area + op->OffsetInputs + 3*i, 3);
+	    if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata32 = swap32(udata32);
+	    data32 = (pwr_tInt32) udata32;
+	    sop->RawValue = 0;		
+            if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT)
+     	      sop->SigValue = udata32 * cop->SigValPolyCoef1 + cop->SigValPolyCoef0;
+            else
+     	      sop->SigValue = data32 * cop->SigValPolyCoef1 + cop->SigValPolyCoef0;
+            switch(chanp->ChanClass) {
+              case pwr_cClass_ChanAi:
+                ConvertAi(cop, 32, 0, 0, udata32, &actvalue, op->NumberRepresentation);
+                break;
+              case pwr_cClass_ChanAit:
+  	        ConvertAit((pwr_sClass_ChanAit *) cop, 32, 0, 0, udata32, &actvalue, op->NumberRepresentation);
+	        break;
+            }
+          }
           else if (op->BytesPerChannel == 2) {
 	    memcpy(&udata16, local->input_area + op->OffsetInputs + 2*i, 2);
 	    if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata16 = swap16(udata16);
@@ -322,7 +341,7 @@ static pwr_tStatus IoCardRead (
     }  // for
   }  // if ...op->Status
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -337,11 +356,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_ao.c

@@ -43,10 +43,10 @@ static pwr_tStatus IoCardInit (
 
   if (rp->Class != pwr_cClass_Pb_DP_Slave) {
     errh_Info( "Illegal object type %s", cp->Name );
-    return 1;
+    return IO__SUCCESS;
   }
 
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE) {
 
     // Calculate polycoeff
     for (i=0; i<cp->ChanListSize; i++) {
@@ -58,7 +58,7 @@ static pwr_tStatus IoCardInit (
   else
     errh_Info( "Error initializing Pb module Ao %s", cp->Name );
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -79,6 +79,9 @@ static pwr_tStatus IoCardWrite (
   pwr_tInt8 data8 = 0;
   pwr_tInt16 data16 = 0;
   pwr_tInt32 data32 = 0;
+  pwr_tUInt8 udata8 = 0;
+  pwr_tUInt16 udata16 = 0;
+  pwr_tUInt32 udata32 = 0;
   pwr_sClass_ChanAo *cop;
   pwr_sClass_Ao *sop;
   io_sChannel *chanp;
@@ -90,7 +93,7 @@ static pwr_tStatus IoCardWrite (
   op = (pwr_sClass_Pb_Ao *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
   
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
 
     fixout = ctx->Node->EmergBreakTrue && ctx->Node->EmergBreakSelect == FIXOUT;
 
@@ -122,45 +125,74 @@ static pwr_tStatus IoCardWrite (
 
       rawvalue = cop->OutPolyCoef1 * value + cop->OutPolyCoef0;
 
-      if (op->BytesPerChannel == 4) {
+      if ( rawvalue > 0)
+        rawvalue = rawvalue + 0.5;
+      else
+        rawvalue = rawvalue - 0.5;
+
+      // We dont use RawValue in Profibus I/O
+      sop->RawValue = 0;
+
+      // Calculate signal value
+      sop->SigValue = cop->SigValPolyCoef1 * value + cop->SigValPolyCoef0;
 
-        if ( rawvalue > 0)
-          rawvalue = rawvalue + 0.5;
-        else
-          rawvalue = rawvalue - 0.5;
+      if (op->BytesPerChannel == 4) {
 
-	sop->RawValue = 0;
+	if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
+          udata32 = (pwr_tUInt32) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata32 = swap32(udata32);
+          memcpy(local->output_area + op->OffsetOutputs + 4*i, &udata32, 4);
+	}
+	else if (op->NumberRepresentation == PB_NUMREP_SIGNEDINT) {
+          data32 = (pwr_tInt32) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
+          memcpy(local->output_area + op->OffsetOutputs + 4*i, &data32, 4);
+	}
 
-        data32 = (pwr_tInt32) rawvalue;
-        if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
+      }
+      else if (op->BytesPerChannel == 3) {
+
+	if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
+          udata32 = (pwr_tUInt32) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata32 = swap32(udata32);
+          memcpy(local->output_area + op->OffsetOutputs + 3*i, &udata32, 3);
+	}
+	else if (op->NumberRepresentation == PB_NUMREP_SIGNEDINT) {
+          data32 = (pwr_tInt32) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
+          memcpy(local->output_area + op->OffsetOutputs + 3*i, &data32, 3);
+	}
 
-        memcpy(local->output_area + op->OffsetOutputs + 4*i, &data32, 4);
       }
       else if (op->BytesPerChannel == 2) {
-        if ( rawvalue > 0)
-          sop->RawValue = rawvalue + 0.5;
-        else
-          sop->RawValue = rawvalue - 0.5;
 
-        data16 = (pwr_tInt16) sop->RawValue;
-        if (slave->ByteOrdering == PB_BYTEORDERING_BE) data16 = swap16(data16);
-
-        memcpy(local->output_area + op->OffsetOutputs + 2*i, &data16, 2);
+	if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
+          udata16 = (pwr_tUInt16) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata16 = swap16(udata16);
+          memcpy(local->output_area + op->OffsetOutputs + 2*i, &udata16, 2);
+        }
+	else if (op->NumberRepresentation == PB_NUMREP_SIGNEDINT) {
+          data16 = (pwr_tInt16) rawvalue;
+          if (slave->ByteOrdering == PB_BYTEORDERING_BE) data16 = swap16(data16);
+          memcpy(local->output_area + op->OffsetOutputs + 2*i, &data16, 2);
+        }
+	
       }
       else if (op->BytesPerChannel == 1) {
-        if ( rawvalue > 0)
-          sop->RawValue = rawvalue + 0.5;
-        else
-          sop->RawValue = rawvalue - 0.5;
-
-        data8 = (pwr_tInt8) sop->RawValue;
 
-        memcpy(local->output_area + op->OffsetOutputs + i, &data8, 1);
+	if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
+          udata8 = (pwr_tUInt8) rawvalue;
+          memcpy(local->output_area + op->OffsetOutputs + i, &udata8, 1);
+        }	
+	else if (op->NumberRepresentation == PB_NUMREP_SIGNEDINT) {
+          data8 = (pwr_tInt8) rawvalue;
+          memcpy(local->output_area + op->OffsetOutputs + i, &data8, 1);
+        }
       }
     }
   }
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -175,11 +207,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_di.c

@@ -42,14 +42,14 @@ static pwr_tStatus IoCardInit (
   // Check configuration 
   
   if (op->NumberOfChannels != 8 && op->NumberOfChannels != 16 && op->NumberOfChannels != 32)
-    op->Status = 0;
+    op->Status = PB_MODULE_STATE_NOTINIT;
     
   if (op->Orientation > op->NumberOfChannels)
-    op->Status = 0;  
+    op->Status = PB_MODULE_STATE_NOTINIT;  
 
-  if (op->Status < 1) errh_Info( "Error initializing Pb module Di %s", cp->Name );
+  if (op->Status < PB_MODULE_STATE_OPERATE) errh_Info( "Error initializing Pb module Di %s", cp->Name );
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -74,7 +74,7 @@ static pwr_tStatus IoCardRead (
   op = (pwr_sClass_Pb_Di *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
 
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
 
     memcpy(&data, local->input_area + op->OffsetInputs, op->BytesOfInput);
 
@@ -100,7 +100,7 @@ static pwr_tStatus IoCardRead (
     }
 
   }
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -115,11 +115,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_do.c

@@ -40,14 +40,14 @@ static pwr_tStatus IoCardInit (
   local = (io_sCardLocal *) cp->Local;
 
   if (op->NumberOfChannels != 8 && op->NumberOfChannels != 16 && op->NumberOfChannels != 32)
-    op->Status = 0;
+    op->Status = PB_MODULE_STATE_NOTINIT;
     
   if (op->Orientation > op->NumberOfChannels)
-    op->Status = 0;  
+    op->Status = PB_MODULE_STATE_NOTINIT;  
 
-  if (op->Status < 1) errh_Info( "Error initializing Pb module Do %s", cp->Name );
+  if (op->Status < PB_MODULE_STATE_OPERATE) errh_Info( "Error initializing Pb module Do %s", cp->Name );
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -72,7 +72,7 @@ static pwr_tStatus IoCardWrite (
   op = (pwr_sClass_Pb_Do *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
 
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
 
     io_DoPackWord(cp, &data[0], 0);
     if (op->NumberOfChannels > 16) io_DoPackWord(cp, &data[1], 1);
@@ -90,7 +90,7 @@ static pwr_tStatus IoCardWrite (
 
     memcpy(local->output_area + op->OffsetOutputs, &data, op->BytesOfOutput);
   }
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -105,11 +105,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_dp_slave.c

@@ -17,6 +17,7 @@
 #include "rt_io_pb_locals.h"
 
 #include "pwr.h"
+#include "co_cdh.h"
 #include "pwr_baseclasses.h"
 #include "rt_gdh.h"
 #include "rt_io_base.h"
@@ -35,82 +36,25 @@ static pwr_tStatus IoRackInit (
   io_sRack	*rp
 ) 
 {
-
-/*
-  io_sAgentLocal *local_agent;
   io_sCardLocal *local_card;
-
-  pwr_sClass_Pb_DP_Slave *op;
-
-  int i;
-  pwr_tUInt16 sts;
-  int fp;
-  struct timespec rqtp, rmtp;
   io_sCard *cardp;
   short input_counter;
   short output_counter;
+  pwr_sClass_Pb_DP_Slave *op;
   pwr_sClass_Pb_Di *dip;
   pwr_sClass_Pb_Do *dop;
   pwr_sClass_Pb_Ai *aip;
   pwr_sClass_Pb_Ao *aop;
   pwr_sClass_Pb_Ii *iip;
   pwr_sClass_Pb_Io *iop;
+  char name[196];
+  pwr_tStatus sts;
 
-  local_agent = (io_sAgentLocal *) (ap->Local);
-
-  fp = local_agent->Pb_fp;
+  sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
+  errh_Info( "Init of Profibus DP Slave and modules %s", name);
 
   op = (pwr_sClass_Pb_DP_Slave *) rp->op;
-
-  rqtp.tv_sec = 1;
-  rqtp.tv_nsec = 0;
-
-  // Try to initialize slave.
-
-  if (op->Status < 1) {
-
-    // Three attempts
-
-    for(i=0; i<3; i++) {
-      if (op->AutoConfigure == 1) {
-        sts = pb_get_slave_cfg(fp,
-			       op->SlaveAddress,
-			       &op->ConfigDataLen,
-			       &op->ConfigData);
-      }
-      else {
-        sts = PB_OK;
-      }
-      if (sts == PB_OK) {
-        sts = pb_download_all(fp,
-			      op->SlaveAddress,
-			      op->WdFact1,
-			      op->WdFact2,
-			      0,
-			      op->PNOIdent,
-			      op->GroupIdent,
-			      op->PrmUserDataLen,
-			      &op->PrmUserData,
-			      op->ConfigDataLen,
-			      &op->ConfigData);
-      }
-      if (sts == PB_OK) {
-        sts = pb_get_slave_info(fp, 
-				op->SlaveAddress, 
-				&op->OffsetInputs,
-				&op->OffsetOutputs,
-				&op->BytesOfInput,
-				&op->BytesOfOutput);
-      }
-      if (sts == PB_OK) break;
-      nanosleep(&rqtp, &rmtp);
-    }
-    if (sts != PB_OK) {
-      errh_Info( "ERROR Init DP slave %s", rp->Name );
-      return IO__ERRINIDEVICE;
-    }
-  }
-
+  
   // Do configuration check and initialize modules.
 
   cardp = rp->cardlist;
@@ -119,18 +63,11 @@ static pwr_tStatus IoRackInit (
   op->NumberModules = 0;
 
   while(cardp) {
-    if (!cardp->Local) {
-      local_card = calloc(1, sizeof(*local_card));
-      cardp->Local = local_card;
-    }
-    else
-      local_card = cardp->Local;
-      
+    local_card = calloc(1, sizeof(*local_card));
+    cardp->Local = local_card;
     local_card->input_area = (void *) &(op->Inputs);
     local_card->output_area = (void *) &(op->Outputs);
-    local_card->initialized = 0;
-    errh_Info("Init module %s", cardp->Name);
-    
+
     switch (cardp->Class) {
 
       case pwr_cClass_Pb_Di:
@@ -138,8 +75,7 @@ static pwr_tStatus IoRackInit (
         dip->OffsetInputs = input_counter;
         dip->BytesOfInput = dip->NumberOfChannels / 8;
         input_counter += dip->BytesOfInput;
-        dip->Status = 1;
-	local_card->initialized = 1;
+        dip->Status = PB_MODULE_STATE_OPERATE;
         break;
 
       case pwr_cClass_Pb_Do:
@@ -147,8 +83,7 @@ static pwr_tStatus IoRackInit (
         dop->OffsetOutputs = output_counter;
         dop->BytesOfOutput = dop->NumberOfChannels / 8;
         output_counter += dop->BytesOfOutput;
-        dop->Status = 1;
-	local_card->initialized = 1;
+        dop->Status = PB_MODULE_STATE_OPERATE;
         break;
 
       case pwr_cClass_Pb_Ai:
@@ -156,8 +91,7 @@ static pwr_tStatus IoRackInit (
         aip->OffsetInputs = input_counter;
         aip->BytesOfInput = aip->NumberOfChannels * aip->BytesPerChannel;
         input_counter += aip->BytesOfInput;
-        aip->Status = 1;
-	local_card->initialized = 1;
+        aip->Status = PB_MODULE_STATE_OPERATE;
         break;
 
       case pwr_cClass_Pb_Ao:
@@ -165,8 +99,7 @@ static pwr_tStatus IoRackInit (
         aop->OffsetOutputs = output_counter;
         aop->BytesOfOutput = aop->NumberOfChannels * aop->BytesPerChannel;
         output_counter += aop->BytesOfOutput;
-        aop->Status = 1;
-	local_card->initialized = 1;
+        aop->Status = PB_MODULE_STATE_OPERATE;
         break;
 
       case pwr_cClass_Pb_Ii:
@@ -174,8 +107,7 @@ static pwr_tStatus IoRackInit (
         iip->OffsetInputs = input_counter;
         iip->BytesOfInput = iip->NumberOfChannels * iip->BytesPerChannel;
         input_counter += iip->BytesOfInput;
-        iip->Status = 1;
-	local_card->initialized = 1;
+        iip->Status = PB_MODULE_STATE_OPERATE;
         break;
 
       case pwr_cClass_Pb_Io:
@@ -183,8 +115,7 @@ static pwr_tStatus IoRackInit (
         iop->OffsetOutputs = output_counter;
         iop->BytesOfOutput = iop->NumberOfChannels * iop->BytesPerChannel;
         output_counter += iop->BytesOfOutput;
-        iop->Status = 1;
-	local_card->initialized = 1;
+        iop->Status = PB_MODULE_STATE_OPERATE;
         break;
     }
 
@@ -192,16 +123,6 @@ static pwr_tStatus IoRackInit (
     cardp = cardp->next;
   }
 
-  if (op->BytesOfInput != input_counter || op->BytesOfOutput != output_counter) {
-    errh_Info( "Configuration mismatch in DP slave %s", rp->Name);
-//    op->Status = 0;
-//    return IO__SUCCESS;
-  }
-
-  op->Status = PB_SLAVE_STATE_STOPPED;
-*/
-  errh_Info( "Init DP slave %s", rp->Name );
-
   return IO__SUCCESS;
 }
 
@@ -215,53 +136,50 @@ static pwr_tStatus IoRackRead (
   io_sRack	*rp
 ) 
 {
-  io_sAgentLocal *agent_local;
-  pwr_sClass_Pb_DP_Slave *op;
+  pwr_sClass_Pb_Profiboard *mp;
+  pwr_sClass_Pb_DP_Slave *sp;
   int fp;
   unsigned char diag;
   pwr_tUInt16 sts;
-
-  agent_local = (io_sAgentLocal *) (ap->Local);
-  fp = agent_local->Pb_fp;
   
-  op = (pwr_sClass_Pb_DP_Slave *) rp->op;
+  fp = ((io_sAgentLocal *) (ap->Local))->Pb_fp;
+  
+  sp = (pwr_sClass_Pb_DP_Slave *) rp->op;
+  mp = (pwr_sClass_Pb_Profiboard *) ap->op;
 
-  if (op->Status > PB_SLAVE_STATE_NOTINIT && op->DisableSlave == 0) {
+  if (sp->Status > PB_SLAVE_STATE_NOTINIT && mp->Status == PB_MASTER_STATE_OPERATE && sp->DisableSlave != 1 && mp->DisableBus != 1) {
 
-    sts = pb_cmi_get_data(fp, ID_DP_STATUS_IMAGE, op->SlaveAddress, 1, &diag);
+    sts = pb_cmi_get_data(fp, ID_DP_STATUS_IMAGE, sp->SlaveAddress, 1, &diag);
 
     if ((sts != PB_OK) || (diag & 1)) {
-      op->Status = PB_SLAVE_STATE_STOPPED;
-      op->ErrorCount++;
-      if (op->ErrorCount > op->ErrorSoftLimit && op->StallAction >= PB_STALLACTION_RESET) {
-        memset(&op->Inputs, 0, op->BytesOfInput);
+      sp->Status = PB_SLAVE_STATE_STOPPED;
+      sp->ErrorCount++;
+      if (sp->ErrorCount > sp->ErrorSoftLimit && sp->StallAction >= PB_STALLACTION_RESET) {
+        memset(&sp->Inputs, 0, sp->BytesOfInput);
       }
     }
     else {
-      op->Status = PB_SLAVE_STATE_OPERATE;
+      sp->Status = PB_SLAVE_STATE_OPERATE;
     }
 
-    if ((op->Status > PB_SLAVE_STATE_STOPPED) && op->BytesOfInput > 0) {
+    if ((sp->Status > PB_SLAVE_STATE_STOPPED) && sp->BytesOfInput > 0) {
 
       sts = pb_cmi_get_data(fp, 
 			ID_DP_SLAVE_IO_IMAGE, 
-			op->OffsetInputs, 
-			op->BytesOfInput, 
-			&op->Inputs);
+			sp->OffsetInputs, 
+			sp->BytesOfInput, 
+			&sp->Inputs);
 
       if (sts != PB_OK) 
-        op->ErrorCount++;
+        sp->ErrorCount++;
       else
-        op->ErrorCount = 0;
+        sp->ErrorCount = 0;
     }
 
-    if (op->ErrorCount > op->ErrorHardLimit && op->StallAction >= PB_STALLACTION_BREAK)
+    if (sp->ErrorCount > sp->ErrorHardLimit && sp->StallAction >= PB_STALLACTION_BREAK)
       ctx->Node->EmergBreakTrue = 1;
   }
-/*  
-  else if (op->Status == PB_SLAVE_STATE_NOTINIT)
-    IoRackInit(ctx, ap, rp);
-*/
+
   return IO__SUCCESS;
 }
 
@@ -275,28 +193,29 @@ static pwr_tStatus IoRackWrite (
   io_sRack	*rp
 ) 
 {
-  io_sAgentLocal *agent_local;
-  pwr_sClass_Pb_DP_Slave *op;
+  pwr_sClass_Pb_Profiboard *mp;
+  pwr_sClass_Pb_DP_Slave *sp;
   int fp;
   pwr_tUInt16 sts;
 
-  agent_local = (io_sAgentLocal *) (ap->Local);
-  fp = agent_local->Pb_fp;
-  op = (pwr_sClass_Pb_DP_Slave *) rp->op;
+  fp = ((io_sAgentLocal *) (ap->Local))->Pb_fp;
+  
+  sp = (pwr_sClass_Pb_DP_Slave *) rp->op;
+  mp = (pwr_sClass_Pb_Profiboard *) ap->op;
 
   // Write the whole I/O output area from local area
 
-  if (op->Status > PB_SLAVE_STATE_NOTINIT && op->DisableSlave == 0) {
+  if (sp->Status > PB_SLAVE_STATE_NOTINIT && mp->Status == PB_MASTER_STATE_OPERATE && sp->DisableSlave != 1 && mp->DisableBus != 1) {
 
-    if (op->BytesOfOutput > 0) {
+    if (sp->BytesOfOutput > 0) {
 
       sts = pb_cmi_set_data(fp, 
 			ID_DP_SLAVE_IO_IMAGE, 
-			op->OffsetOutputs, 
-			op->BytesOfOutput, 
-			&op->Outputs);
+			sp->OffsetOutputs, 
+			sp->BytesOfOutput, 
+			&sp->Outputs);
 
-      if (sts != PB_OK) op->ErrorCount++;
+      if (sts != PB_OK) sp->ErrorCount++;
     }
   }
 
@@ -313,10 +232,9 @@ static pwr_tStatus IoRackClose (
   io_sRack	*rp
 ) 
 {
-  return 1;
+  return IO__SUCCESS;
 }
 
-
 
 /*----------------------------------------------------------------------------*\
   Every method to be exported to the workbench should be registred here.

src/lib/rt/src/os_linux/rt_io_m_pb_ii.c

@@ -43,12 +43,12 @@ static pwr_tStatus IoCardInit (
 
   if (rp->Class != pwr_cClass_Pb_DP_Slave) {
     errh_Info( "Illegal object type %s", cp->Name );
-    return 1;
+    return IO__SUCCESS;
   }
 
-  if (op->Status < 1) errh_Info( "Error initializing Pb module Ii %s", cp->Name );
+  if (op->Status < PB_MODULE_STATE_OPERATE) errh_Info( "Error initializing Pb module Ii %s", cp->Name );
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -81,7 +81,7 @@ static pwr_tStatus IoCardRead (
   op = (pwr_sClass_Pb_Ii *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
   
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
     
     for (i=0; i<cp->ChanListSize; i++) {
 
@@ -105,6 +105,20 @@ static pwr_tStatus IoCardRead (
             *(pwr_tInt32 *) chanp->vbp = data32;
 	  }
         }
+        else if (op->BytesPerChannel == 3) {
+	  if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
+	    udata32 = 0;
+	    memcpy(&udata32, local->input_area + op->OffsetInputs + 3*i, 3);
+	    if (slave->ByteOrdering == PB_BYTEORDERING_BE) udata32 = swap32(udata32);
+            *(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) udata32;
+	  }
+	  else if (op->NumberRepresentation == PB_NUMREP_SIGNEDINT) {
+	    data32 = 0;
+	    memcpy(&data32, local->input_area + op->OffsetInputs + 3*i, 3);
+	    if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
+            *(pwr_tInt32 *) chanp->vbp = data32;
+	  }
+        }
         else if (op->BytesPerChannel == 2) {
 	  if (op->NumberRepresentation == PB_NUMREP_UNSIGNEDINT) {
  	    memcpy(&udata16, local->input_area + op->OffsetInputs + 2*i, 2);
@@ -131,7 +145,7 @@ static pwr_tStatus IoCardRead (
     }
   }
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -146,11 +160,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_io.c

@@ -41,14 +41,14 @@ static pwr_tStatus IoCardInit (
 
   if (rp->Class != pwr_cClass_Pb_DP_Slave) {
     errh_Info( "Illegal object type %s", cp->Name );
-    return 1;
+    return IO__SUCCESS;
   }
 
-  if (op->Status < 1) {
+  if (op->Status < PB_MODULE_STATE_OPERATE) {
     errh_Info( "Error initializing Pb module Io %s", cp->Name );
   }
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -78,7 +78,7 @@ static pwr_tStatus IoCardWrite (
   op = (pwr_sClass_Pb_Io *) cp->op;
   slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
 
-  if (op->Status >= 1) {
+  if (op->Status >= PB_MODULE_STATE_OPERATE && slave->DisableSlave != 1) {
 
     for (i=0; i<cp->ChanListSize; i++) {
 
@@ -96,6 +96,10 @@ static pwr_tStatus IoCardWrite (
         if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
         memcpy(local->output_area + op->OffsetOutputs + 4*i, &data32, 4);
       }
+      else if (op->BytesPerChannel == 3) {
+        if (slave->ByteOrdering == PB_BYTEORDERING_BE) data32 = swap32(data32);
+        memcpy(local->output_area + op->OffsetOutputs + 3*i, &data32, 3);
+      }
       else if (op->BytesPerChannel == 2) {
         data16 = (pwr_tInt16) data32;
         if (slave->ByteOrdering == PB_BYTEORDERING_BE) data16 = swap16(data16);
@@ -107,7 +111,7 @@ static pwr_tStatus IoCardWrite (
       }
     }
   }
-  return 1;
+  return IO__SUCCESS;
 }
 
 
@@ -122,11 +126,11 @@ static pwr_tStatus IoCardClose (
 ) 
 {
   io_sCardLocal *local;
-  local = rp->Local;
+  local = cp->Local;
 
   free ((char *) local);
 
-  return 1;
+  return IO__SUCCESS;
 }
 
 

src/lib/rt/src/os_linux/rt_io_m_pb_profiboard.c

@@ -28,6 +28,8 @@
 
 #include "rt_io_profiboard.h"
 
+static int count;
+
 static pwr_tStatus IoAgentInit (
   io_tCtx	ctx,
   io_sAgent	*ap
@@ -265,7 +267,7 @@ static pwr_tStatus init_dp_slave (
 
   op->Status = PB_SLAVE_STATE_NOTINIT;
  
-  errh_Info( "Config of Profibus DP slave %s", name );
+  errh_Info( "Config of Profibus DP Slave %s", name );
  
   // Try to initialize slave, make three attempts before we give up
 
@@ -328,13 +330,14 @@ static pwr_tStatus IoAgentInit (
   pwr_tStatus status;
   io_sAgentLocal *local;
   unsigned char devname[25];
-  
+  struct timespec rqtp, rmtp;
+  int i;
+  char ok;
+
   pwr_tObjid slave_objid;
   pwr_tClassId slave_class;
-
-  op = (pwr_sClass_Pb_Profiboard *) ap->op;
-
-  errh_Info( "Config of Profibus DP Master %s", ap->Name );
+  
+  count=0;
 
   /* Allocate area for local data structure */
   ap->Local = calloc(1, sizeof(io_sAgentLocal));
@@ -344,93 +347,131 @@ static pwr_tStatus IoAgentInit (
   }
     
   local = (io_sAgentLocal *) ap->Local;
+  op = (pwr_sClass_Pb_Profiboard *) ap->op;
+
+  /* Open Pb driver */
+  sprintf(devname, "/dev/pbus%1d", op->BusNumber);
+  local->Pb_fp = open(devname, O_RDWR);
+
+  if (local->Pb_fp == -1)
+  {
+    /* Can't open driver */
+    errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "open device");
+    ctx->Node->EmergBreakTrue = 1;
+    return IO__ERRDEVICE;
+  }
+
+  /* If this is not the Profibus I/O process, return */
+  
+  if ((op->Process & io_mProcess_Profibus) && (ctx->Process != io_mProcess_Profibus)) {
+    errh_Info( "Init template I/O agent for Profibus DP Master %s, %d", ap->Name, ctx->Process );
+    return IO__SUCCESS;
+  }
+  
+  errh_Info( "Config of Profibus DP Master %s", ap->Name);
       
   if (op->DisableBus != 1) {
   
-    /* Open Pb driver */
-    sprintf(devname, "/dev/pbus%1d", op->BusNumber);
-    local->Pb_fp = open(devname, O_RDWR);
-
-    if (local->Pb_fp == -1)
-    {
-      /* Can't open driver */
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "open device");
-      ctx->Node->EmergBreakTrue = 1;
-      return IO__ERRDEVICE;
-    }
-
-    /* Initialize CMI */
+    ok = FALSE;
+    
+    while (!ok) {
+    
+      /* Initialize CMI */
 
-    sts = pb_cmi_init(local->Pb_fp);
-    if (sts != PB_OK) {
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "cmi init");
-      return IO__ERRINIDEVICE;
-    }
+      sts = pb_cmi_init(local->Pb_fp);
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "cmi init");
+        return IO__ERRINIDEVICE;
+      }
 
-    /* Set FMB configuration */
+      /* Set FMB configuration */
 
-    sts = fmb_set_configuration(local->Pb_fp,  op); 
-    if (sts != PB_OK) {
-      errh_Info( "ERROR config Profibus DP  Master %s - %s", ap->Name, "fmb set configuration");
-      return IO__ERRINIDEVICE;
-    }
+      sts = fmb_set_configuration(local->Pb_fp,  op); 
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP  Master %s - %s", ap->Name, "fmb set configuration");
+        return IO__ERRINIDEVICE;
+      }
 
-    /* Set DP master parameters */
+      /* Set DP master parameters */
 
-    sts = dp_init_master(local->Pb_fp,  op); 
-    if (sts != PB_OK) {
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp init master");
-      return IO__ERRINIDEVICE;
-    }
+      sts = dp_init_master(local->Pb_fp,  op); 
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp init master");
+        return IO__ERRINIDEVICE;
+      }
 
-    /* Set DP bus parameters */
-    sts = dp_init_bus(local->Pb_fp,  op); 
-    if (sts != PB_OK) {
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp init bus");
-      return IO__ERRINIDEVICE;
-    }
+      /* Set DP bus parameters */
+      sts = dp_init_bus(local->Pb_fp,  op); 
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp init bus");
+        return IO__ERRINIDEVICE;
+      }
+      
+      /* Set stalltime */
+      
+      sts = pb_set_stalltime(local->Pb_fp, op->StallTime);
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "set stalltime");
+        return IO__ERRINIDEVICE;
+      }
 
-    /* Move to STOP mode */
-    sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_STOP);
-    if (sts != PB_OK) {
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to STOPPED");
-      return IO__ERRINIDEVICE;
-    }
+      /* Move to STOP mode */
+      sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_STOP);
+      if (sts != PB_OK) {
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to STOPPED");
+        return IO__ERRINIDEVICE;
+      }
 
-    op->Status = PB_MASTER_STATE_STOPPED;
+      op->Status = PB_MASTER_STATE_STOPPED;
 
-    /* Loop through all slaves (traverse agent's children) and initialize them */
+      /* Loop through all slaves (traverse agent's children) and initialize them */
 
-    op->NumberSlaves = 0;
-    status = gdh_GetChild(ap->Objid, &slave_objid);
+      op->NumberSlaves = 0;
+      status = gdh_GetChild(ap->Objid, &slave_objid);
   
-    while (ODD(status)) {
-      status = gdh_GetObjectClass(slave_objid, &slave_class);
-      if (slave_class == pwr_cClass_Pb_DP_Slave) {
-        status = init_dp_slave(ap, slave_objid);
-        op->NumberSlaves++;
+      while (ODD(status)) {
+        status = gdh_GetObjectClass(slave_objid, &slave_class);
+        if (slave_class == pwr_cClass_Pb_DP_Slave) {
+          status = init_dp_slave(ap, slave_objid);
+          op->NumberSlaves++;
+        }
+        status = gdh_GetNextSibling(slave_objid, &slave_objid);
       }
-      status = gdh_GetNextSibling(slave_objid, &slave_objid);
-    }
 
-    /* Move to CLEAR and OPERATE mode */
+      /* Move to CLEAR and OPERATE mode */
   
-    sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_CLEAR);
-    if (sts == PB_OK) {
-      op->Status = PB_MASTER_STATE_CLEARED;
-      sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_OPERATE);
+      sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_CLEAR);
       if (sts == PB_OK) {
-        op->Status = PB_MASTER_STATE_OPERATE;
-        errh_Info( "Profibus DP Master %s to state OPERATE", ap->Name);
+        op->Status = PB_MASTER_STATE_CLEARED;
+        sts = act_param_loc(local->Pb_fp, op, DP_OP_MODE_OPERATE);
+        if (sts == PB_OK) {
+          op->Status = PB_MASTER_STATE_OPERATE;
+          errh_Info( "Profibus DP Master %s to state OPERATE", ap->Name);
+        }
+        else {
+          errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to OPERATE");
+          return IO__ERRINIDEVICE;
+        }    
       }
       else {
-        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to OPERATE");
+        errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to CLEAR");
         return IO__ERRINIDEVICE;
-      }    
-    }
-    else {
-      errh_Info( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to CLEAR");
-      return IO__ERRINIDEVICE;
+      }
+      
+      ok = TRUE;
+      for (i=0; i<4; i++) {  
+        if (ok) {
+          sts = pb_cmi_poll(local->Pb_fp, NULL, NULL, NULL);
+          if (sts == PB_DEVICE_ERROR) {
+	    errh_Info("Init problems, Reconfig - %d", i);
+	    ok = FALSE;
+	  }
+          rqtp.tv_sec = 0;
+          rqtp.tv_nsec = 200000000;
+          nanosleep(&rqtp, &rmtp);
+	}
+      }
+    
     }
     
   }    
@@ -450,6 +491,7 @@ static pwr_tStatus IoAgentRead (
   io_sAgentLocal *local;
   pwr_sClass_Pb_Profiboard *op;
   pwr_tUInt16 sts;
+  static int count;
 
   local = (io_sAgentLocal *) ap->Local;
   op = (pwr_sClass_Pb_Profiboard *) ap->op;
@@ -458,6 +500,11 @@ static pwr_tStatus IoAgentRead (
      Make a poll to see if there are diagnostics, the answer also tell us
      if there are any hardware faults. In that case, make a reset and a new init. */
 
+  count++;
+  
+  if ((op->Process & io_mProcess_Profibus) && (ctx->Process != io_mProcess_Profibus))
+    return IO__SUCCESS;
+    
   if (op->DisableBus != 1) {
   
     switch (op->Status) {
@@ -478,7 +525,7 @@ static pwr_tStatus IoAgentRead (
 
       default:
         op->Status = PB_MASTER_STATE_NOTINIT;
-        errh_Info( "Reconfig of Profibus DP Master %s", ap->Name );      
+        errh_Info( "Reconfig of Profibus DP Master %s - %d", ap->Name, count );      
         IoAgentClose(ctx, ap);
         IoAgentInit(ctx, ap);
         break;

src/lib/rt/src/os_linux/rt_io_pb_locals.h

 #define IO_MAXCHAN 32
 
+#define PB_MODULE_STATE_NOTINIT 0
+#define PB_MODULE_STATE_OPERATE 1
+
 #define PB_SLAVE_STATE_NOTINIT 0
 #define PB_SLAVE_STATE_STOPPED 1
 #define PB_SLAVE_STATE_OPERATE 2
@@ -35,7 +38,6 @@ typedef struct {
 } io_sRackLocal;
 
 typedef struct {
-  int initialized;
   void *input_area;
   void *output_area;
   int scancount[IO_MAXCHAN];

src/lib/rt/src/os_linux/rt_io_profiboard.c

@@ -70,6 +70,19 @@ pwr_tUInt16 pb_cmi_write(int fp,
     return PB_DEVICE_ERROR;
 }
 
+
+pwr_tUInt16 pb_set_stalltime(int fp, unsigned short t)
+{
+  int sts;
+  
+  sts = ioctl(fp, PB_IOCTL_SET_STALLTIME, (char *) &t);
+
+  if (sts == 0)
+    return PB_OK;
+  else
+    return PB_DEVICE_ERROR;
+}
+
 
 pwr_tUInt16 pb_cmi_read(int fp,
 		        T_PROFI_SERVICE_DESCR *sdb_ptr,

src/lib/rt/src/os_linux/rt_io_profiboard.h

@@ -23,6 +23,9 @@ pwr_tUInt16 pb_cmi_write(int fp,
 		         void *data_ptr,
 		         pwr_tUInt16 data_len); 
 
+extern
+pwr_tUInt16 pb_set_stalltime(int fp, unsigned short t);
+
 extern
 pwr_tUInt16 pb_cmi_read(int fp,
 		        T_PROFI_SERVICE_DESCR *sdb_ptr,